VSS_Referee

Introduction

The VSS-Referee is the automatic referee module created to IEEE Very Small Size Soccer League, creating the possibility to teams catch the data coming from it and replace strategically their robots, decreasing the human necessity at the field.

Requirements

• g++
• Qt
• Qt OpenGL
• Google protocol buffers (protoc)

Compilation

First of all, check the constants/constants.json file and update for your parameters (addresses, ports, team names, team colors, etc.) Create an folder named build, open it and run the command qmake ..
So, after this, run the command make and if everything goes ok, the binary will be at the folder bin (at the main folder).

Usage

After compilation, simply run the binary at the bin folder using the ./VSS-Referee command at the terminal. Remember to change the Json file to adjust the parameters for your need!

Modules explanation

Currently, the VSS-Referee have 3 modules inside it:

VSS-Vision Client

The VSS-Vision Client is responsable to catch vision data (robots and ball positons, field geometry, etc.) from the network, possibilyting to use these data later to process some fouls occurred in the field.

VSS-Referee

The VSS-Referee module is responsable to use the VSS-Vision Client data and check the fouls occured in the field. It uses the vssref_command.proto protobuf file to send the commands. The following fouls are supported by this protobuf:

• KICKOFF: This command is sent when the game start (when you open the referee), after valid goals and after half passed.
• FREE_BALL: This command is sent when the ball is stucked in any part of the field for ballStuckTime seconds. It passes the quadrant where the foul occured, that can be QUADRANT_1, QUADRANT_2, QUADRANT_3 and QUADRANT_4. These quadrants begin from the TOP-RIGHT quadrant and the others follow an anti-hour orientation, so the QUADRANT_2 is the TOP_LEFT and so on.
• FREE_KICK: Currently this command isn't supported by the referee due to it's complexity to be analysed.
• GOAL_KICK: This command is sent when two attackers disputate the ball with the enemy goalkeeper.
• PENALTY_KICK: This command is sent when two defenders are inside of the goal area (at least 50%) with the ball in the area, or when the goalkeeper didn't takeout the ball from the goal area in at least GKTakeoutTime seconds.
• STOP: This is an new command, that occurs when the teams placed succesfuly. This allows the teams to make tiny modifications at their robot orientations to adapt for the other teams placement.
• GAME_ON: This command is sent when the stop ended , so all the players can play normally.

The example/main.cpp file contains an example of how the teams can catch data from VSS-Referee.

VSS-Replacer

The VSS-Replacer module is responsable to catch the data sent by the teams containing their desired position of each robot in the field, posteriorly positioning the robots in the FIRASim simulator.
The teams need to use the vssref_placement.proto protobuf file to send these commands to the VSS-Replacer. This protobuf have an var type named Frame on it, that contains the team Color and a vector of Robot type. The definition of these vars can be seen in the vssref_common.proto protobuf file.
The current version, when your team don't place the robots, automatically place your team based at the IEEE VSS Rules, but it only can recognize your goalkeeper, cause it store the time that each robot spent at the goal area, so the other players will be literally placed following the rules. You can check that rules placement at Rules. The example/main.cpp file contains an example of how the teams can send placement data to VSS-Replacer.

Examples of placement

Here you can see examples of how the referee place automatically the robots in the field (if the team don't send the placement packet).

Penalty

Kickoff

Free Ball

• Quadrant 1 (TOP_RIGHT)

• Quadrant 2 (TOP_LEFT)

• Quadrant 3 (BOT_LEFT)

• Quadrant 4 (BOT_RIGHT)

Goal Kick

Example of usage

An example of usage of the software is shown at the example file. It shows how an team can receive the data coming from the VSS-Referee and how to send placement data to it.
To use this example to check the funcionality of the VSS-Referee, you can literally use the same step-by-step compiling instructions showed above (but remember to be at the example main folder).